<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: gpu/segmentation/include/pcl/gpu/segmentation/impl/gpu_seeded_hue_segmentation.hpp 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('gpu__seeded__hue__segmentation_8hpp_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">gpu_seeded_hue_segmentation.hpp</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * $Id:$</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_GPU_SEGMENTATION_IMPL_SEEDED_HUE_SEGMENTATION_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_GPU_SEGMENTATION_IMPL_SEEDED_HUE_SEGMENTATION_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/segmentation/gpu_seeded_hue_segmentation.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;seededHueSegmentation (<span class="keyword">const</span> boost::shared_ptr&lt;<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGB&gt;</a> &gt;  &amp;host_cloud_,</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                       <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_octree.html#aaef633c03e07b4ccf653afa6f314be75">pcl::gpu::Octree::Ptr</a>                                  &amp;tree,</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;                       <span class="keywordtype">float</span>                                                        tolerance,</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                       PointIndices                                                 &amp;indices_in,</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;                       PointIndices                                                 &amp;indices_out,</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                       <span class="keywordtype">float</span>                                                        delta_hue)</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="comment">// Create a bool vector of processed point indices, and initialize it to false</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="comment">// cloud is a DeviceArray&lt;PointType&gt;</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  std::vector&lt;bool&gt; processed (host_cloud_-&gt;points.size (), <span class="keyword">false</span>);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordtype">int</span> max_answers = host_cloud_-&gt;points.size();</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="comment">// Process all points in the indices vector</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k &lt; indices_in.indices.size (); ++k)</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordtype">int</span> i = indices_in.indices[k];</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="comment">// if we already processed this point continue with the next one</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordflow">if</span> (processed[i])</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="comment">// now we will process this point</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    processed[i] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    PointXYZRGB  p;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    p = host_cloud_-&gt;points[i];</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    PointXYZHSV h;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    PointXYZRGBtoXYZHSV(p, h);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="comment">// Create the query queue on the device, point based not indices</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::Octree::Queries</a> queries_device;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="comment">// Create the query queue on the host</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    pcl::PointCloud&lt;pcl::PointXYZ&gt;::VectorType queries_host;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="comment">// Push the starting point in the vector</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    queries_host.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (host_cloud_-&gt;points[i]);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> found_points = queries_host.size ();</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> previous_found_points = 0;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">pcl::gpu::NeighborIndices</a> result_device;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="comment">// Host buffer for results</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    std::vector&lt;int&gt; sizes, data;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="comment">// once the area stop growing, stop also iterating.</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordflow">while</span> (previous_found_points &lt; found_points)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="comment">// Move queries to GPU</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      queries_device.<a class="code" href="classpcl_1_1gpu_1_1_device_array.html#a2c37bf39d8afe561cfb3fcb15fff0a82">upload</a>(queries_host);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="comment">// Execute search</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      tree-&gt;radiusSearch(queries_device, tolerance, max_answers, result_device);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="comment">// Store the previously found number of points</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      previous_found_points = found_points;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="comment">// Clear the Host vectors</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      sizes.clear (); data.clear ();</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="comment">// Copy results from GPU to Host</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      result_device.sizes.<a class="code" href="classpcl_1_1gpu_1_1_device_array.html#a86641905b12549130d92aaf90a85ac87">download</a> (sizes);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      result_device.data.<a class="code" href="classpcl_1_1gpu_1_1_device_array.html#a86641905b12549130d92aaf90a85ac87">download</a> (data);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> qp = 0; qp &lt; sizes.size (); qp++)</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      {</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">int</span> qp_r = 0; qp_r &lt; sizes[qp]; qp_r++)</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          <span class="keywordflow">if</span>(processed[data[qp_r + qp * max_answers]])</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          PointXYZRGB  p_l;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          p_l = host_cloud_-&gt;points[data[qp_r + qp * max_answers]];</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          PointXYZHSV h_l;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          PointXYZRGBtoXYZHSV(p_l, h_l);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;          <span class="keywordflow">if</span> (fabs(h_l.h - h.h) &lt; delta_hue)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          {</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;            processed[data[qp_r + qp * max_answers]] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;            queries_host.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (host_cloud_-&gt;points[data[qp_r + qp * max_answers]]);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;            found_points++;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      }</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> qp = 0; qp &lt; sizes.size (); qp++)</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    {</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordflow">for</span>(<span class="keywordtype">int</span> qp_r = 0; qp_r &lt; sizes[qp]; qp_r++)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        indices_out.indices.push_back(data[qp_r + qp * max_answers]);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="comment">// @todo: do we need to sort here and remove double points?</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;}</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="keywordtype">void</span> </div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#ac0b560196fb4b7596f6a4753daace175">  141</a></span>&#160;<a class="code" href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#ac0b560196fb4b7596f6a4753daace175">pcl::gpu::SeededHueSegmentation::segment</a> (<a class="code" href="structpcl_1_1_point_indices.html">PointIndices</a> &amp;indices_in, <a class="code" href="structpcl_1_1_point_indices.html">PointIndices</a> &amp;indices_out)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;{</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="comment">// Initialize the GPU search tree</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#ae5689256fb1cd46fdda784a6aba14566">tree_</a>)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  {</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <a class="code" href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#ae5689256fb1cd46fdda784a6aba14566">tree_</a>.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1gpu_1_1_octree.html">pcl::gpu::Octree</a>());</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <a class="code" href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#ae5689256fb1cd46fdda784a6aba14566">tree_</a>-&gt;setCloud(<a class="code" href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#a373ef1fcf2bb472af0fa0a1b65cddd05">input_</a>);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#ae5689256fb1cd46fdda784a6aba14566">tree_</a>-&gt;isBuild())</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <a class="code" href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#ae5689256fb1cd46fdda784a6aba14566">tree_</a>-&gt;build();</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="comment">  if(tree_-&gt;cloud_.size() != host_cloud.points.size ())</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="comment">    PCL_ERROR(&quot;[pcl::gpu::SeededHueSegmentation] size of host cloud and device cloud don&#39;t match!\n&quot;);</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="comment">    return;</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="comment">  }</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="comment">// Extract the actual clusters</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  seededHueSegmentation (<a class="code" href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#a088455d7924221c37f3ffbe1e506bb78">host_cloud_</a>, <a class="code" href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#ae5689256fb1cd46fdda784a6aba14566">tree_</a>, <a class="code" href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#a9589b350768eebe75079ac4ea85512af">cluster_tolerance_</a>, indices_in, indices_out, <a class="code" href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#a733693c99f6f317d7bc4a4dd95ae8622">delta_hue_</a>);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;}</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="preprocessor">#endif </span><span class="comment">//PCL_GPU_SEGMENTATION_IMPL_SEEDED_HUE_SEGMENTATION_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZRGB &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a0b4d7abee110e47d90635eb042488bb4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">pcl::PointCloud::push_back</a></div><div class="ttdeci">void push_back(const PointT &amp;pt)</div><div class="ttdoc">Insert a new point in the cloud, at the end of the container.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:480</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray&lt; PointType &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array_html_a2c37bf39d8afe561cfb3fcb15fff0a82"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array.html#a2c37bf39d8afe561cfb3fcb15fff0a82">pcl::gpu::DeviceArray::upload</a></div><div class="ttdeci">void upload(const T *host_ptr, size_t size)</div><div class="ttdoc">Uploads data to internal buffer in GPU memory. It calls create() inside to ensure that intenal buffer...</div><div class="ttdef"><b>Definition:</b> device_array.hpp:57</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array_html_a86641905b12549130d92aaf90a85ac87"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array.html#a86641905b12549130d92aaf90a85ac87">pcl::gpu::DeviceArray::download</a></div><div class="ttdeci">void download(T *host_ptr) const</div><div class="ttdoc">Downloads data from internal buffer to CPU memory</div><div class="ttdef"><b>Definition:</b> device_array.hpp:59</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html">pcl::gpu::Octree</a></div><div class="ttdoc">Octree implementation on GPU. It suppors parallel building and paralel batch search as well .</div><div class="ttdef"><b>Definition:</b> octree.hpp:57</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_octree_html_aaef633c03e07b4ccf653afa6f314be75"><div class="ttname"><a href="classpcl_1_1gpu_1_1_octree.html#aaef633c03e07b4ccf653afa6f314be75">pcl::gpu::Octree::Ptr</a></div><div class="ttdeci">boost::shared_ptr&lt; Octree &gt; Ptr</div><div class="ttdoc">Types</div><div class="ttdef"><b>Definition:</b> octree.hpp:67</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_seeded_hue_segmentation_html_a088455d7924221c37f3ffbe1e506bb78"><div class="ttname"><a href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#a088455d7924221c37f3ffbe1e506bb78">pcl::gpu::SeededHueSegmentation::host_cloud_</a></div><div class="ttdeci">PointCloudHostPtr host_cloud_</div><div class="ttdoc">the original cloud the Host</div><div class="ttdef"><b>Definition:</b> gpu_seeded_hue_segmentation.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_seeded_hue_segmentation_html_a373ef1fcf2bb472af0fa0a1b65cddd05"><div class="ttname"><a href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#a373ef1fcf2bb472af0fa0a1b65cddd05">pcl::gpu::SeededHueSegmentation::input_</a></div><div class="ttdeci">CloudDevice input_</div><div class="ttdoc">the input cloud on the GPU</div><div class="ttdef"><b>Definition:</b> gpu_seeded_hue_segmentation.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_seeded_hue_segmentation_html_a733693c99f6f317d7bc4a4dd95ae8622"><div class="ttname"><a href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#a733693c99f6f317d7bc4a4dd95ae8622">pcl::gpu::SeededHueSegmentation::delta_hue_</a></div><div class="ttdeci">float delta_hue_</div><div class="ttdoc">The allowed difference on the hue</div><div class="ttdef"><b>Definition:</b> gpu_seeded_hue_segmentation.h:135</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_seeded_hue_segmentation_html_a9589b350768eebe75079ac4ea85512af"><div class="ttname"><a href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#a9589b350768eebe75079ac4ea85512af">pcl::gpu::SeededHueSegmentation::cluster_tolerance_</a></div><div class="ttdeci">double cluster_tolerance_</div><div class="ttdoc">The spatial cluster tolerance as a measure in the L2 Euclidean space.</div><div class="ttdef"><b>Definition:</b> gpu_seeded_hue_segmentation.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_seeded_hue_segmentation_html_ac0b560196fb4b7596f6a4753daace175"><div class="ttname"><a href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#ac0b560196fb4b7596f6a4753daace175">pcl::gpu::SeededHueSegmentation::segment</a></div><div class="ttdeci">void segment(PointIndices &amp;indices_in, PointIndices &amp;indices_out)</div><div class="ttdoc">Cluster extraction in a PointCloud given by &lt;setInputCloud (), setIndices ()&gt;</div><div class="ttdef"><b>Definition:</b> gpu_seeded_hue_segmentation.hpp:141</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_seeded_hue_segmentation_html_ae5689256fb1cd46fdda784a6aba14566"><div class="ttname"><a href="classpcl_1_1gpu_1_1_seeded_hue_segmentation.html#ae5689256fb1cd46fdda784a6aba14566">pcl::gpu::SeededHueSegmentation::tree_</a></div><div class="ttdeci">GPUTreePtr tree_</div><div class="ttdoc">A pointer to the spatial search object.</div><div class="ttdef"><b>Definition:</b> gpu_seeded_hue_segmentation.h:129</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_neighbor_indices_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_neighbor_indices.html">pcl::gpu::NeighborIndices</a></div><div class="ttdef"><b>Definition:</b> device_format.hpp:47</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_6b3ae6988449b0834e9596fad5d75199.html">gpu</a></li><li class="navelem"><a class="el" href="dir_d79f164834114199256afb6a3a02d317.html">segmentation</a></li><li class="navelem"><a class="el" href="dir_7ac95d39165020345b986ad8d89c1bb6.html">include</a></li><li class="navelem"><a class="el" href="dir_86fe4472ad06f1ffd5fbd18a3f97a0fd.html">pcl</a></li><li class="navelem"><a class="el" href="dir_4fad0a502571adcb572b05a4fa5107c4.html">gpu</a></li><li class="navelem"><a class="el" href="dir_481c9addb7937204fd7d58c3ae91ae9c.html">segmentation</a></li><li class="navelem"><a class="el" href="dir_970ffb3fe6c659fe83ea98866db9d9c3.html">impl</a></li><li class="navelem"><b>gpu_seeded_hue_segmentation.hpp</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
